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Accurate and robust attitude estimation is a central challenge for autonomous vehicles operating in GNSS-denied or highly dynamic environments. In such cases, Inertial Measurement Units (IMUs) alone are insufficient for reliable tilt…
This paper proposes a simple interval observer which can generate tighter interval estimates of variables in transient states than the standard interval observer. The simple nonlinear dynamics shrinks the estimated intervals to true state…
As we move through the world, the pattern of light projected on our eyes is complex and dynamic, yet we are still able to distinguish between moving and stationary objects. We propose that humans accomplish this by exploiting constraints…
Estimating the direction of ambient fluid flow is key for many flying or swimming animals and robots, but can only be accomplished through indirect measurements and active control. Recent work with tethered flying insects indicates that…
The relativistic motion of an arbitrary point of an accelerated rigid rod is discussed for the case when velocity and acceleration are directed along the rod's length. The discussion includes the case of a time-dependent force applied to a…
When rotation is not taken into account, the measurement of the Gravitational Redshift can provide unique information about the compactness ($M/R$) of the star. Rotation alters the gravitational redshift rendering thereby a unique…
The measurement of Doppler velocities in spectroscopic solar observations requires a reference for the local frame of rest. The rotational and radial velocities of the Earth and the rotation of the Sun introduce velocity offsets in the…
Imaging systems based on a narrow-band tunable filter are used to obtain Doppler velocity maps of solar features. These velocity maps are created by taking the difference between the blue- and red-wing intensity images of a chosen spectral…
We consider elastic bodies in rigid rotation, both nonrelativistically and in special relativity. Assuming a body to be in its natural state in the absence of rotation, we prove the existence of solutions to the elastic field equations for…
Estimating the location of N coordinates in a P dimensional Euclidean space from pairwise distances (or proximity measurements), is a principal challenge in a wide variety of fields. Conventionally, when localizing a static network of…
In geometric algebra, the rotation of a vector is described using rotors. Rotors are phasors where the imaginary number has been replaced by a oriented plane element of unit area called a unit bivector. The algebra in three dimensional…
We study a three dimensional continuous model of gravitating matter rotating at constant angular velocity. In the rotating reference frame, by a finite dimensional reduction, we prove the existence of non radial stationary solutions whose…
This paper addresses accurate pose estimation (position, velocity, and orientation) for a rigid body using a combination of generic inertial-frame and/or body-frame measurements along with an Inertial Measurement Unit (IMU). By embedding…
A deterministic attitude estimation problem for a rigid body in a potential field, with bounded attitude and angular velocity measurement errors is considered. An attitude estimation algorithm that globally minimizes the attitude estimation…
Straight lines are common features in human made environments, which makes them a frequently explored feature for control applications. Many control schemes, like Visual Servoing, require the 3D parameters of the features to be estimated.…
This paper proposes a globally and exponentially convergent predictive observer for attitude and position estimation based on landmark measurements and velocity (angular and linear) readings. It is assumed that landmark measurements are…
This paper presents a novel cascaded observer architecture that combines optical flow and IMU measurements to perform continuous monocular visual-inertial odometry (VIO). The proposed solution estimates body-frame velocity and gravity…
This paper presents an Adaptive Gain Nonlinear Observer (AGNO) for estimating the external interaction wrench (forces and torques) in human-UAV physical interaction for assistive payload transportation. The proposed AGNO uses the full…
In this paper, we propose to estimate the forward dynamics equations of mechanical systems by learning a model of the inverse dynamics and estimating individual dynamics components from it. We revisit the classical formulation of rigid body…
This paper presents solutions to the following two common quaternion attitude estimation problems: (i) estimation of attitude using measurement of two reference vectors, and (ii) estimation of attitude using rate measurement and measurement…